U.S. patent number 3,734,254 [Application Number 05/206,626] was granted by the patent office on 1973-05-22 for stepping motor with automatic brake.
This patent grant is currently assigned to Sigma Instruments, Inc.. Invention is credited to Florian F. Yanikoshi.
United States Patent |
3,734,254 |
Yanikoshi |
May 22, 1973 |
STEPPING MOTOR WITH AUTOMATIC BRAKE
Abstract
A motorized drive which will reliably turn a loaded output shaft
in one direction and mechanically brake the shaft against all but
intended reverse rotations includes an electromagnetic stepping
motor having a threaded armature shaft carrying a pair of clutch
discs, one of which is geared with the output shaft and is
threadedly separable from and unitable with the other on the
armature shaft, and a one-way brake of the overrunning clutch type
which unidirectionally holds the other brake disc in relation to
the motor stator or frame structure.
Inventors: |
Yanikoshi; Florian F.
(Braintree, MA) |
Assignee: |
Sigma Instruments, Inc. (South
Braintree, MA)
|
Family
ID: |
22767226 |
Appl.
No.: |
05/206,626 |
Filed: |
December 10, 1971 |
Current U.S.
Class: |
192/16; 318/372;
192/223.1 |
Current CPC
Class: |
B60T
7/12 (20130101); F16D 67/02 (20130101) |
Current International
Class: |
B60T
7/12 (20060101); F16D 67/02 (20060101); F16D
67/00 (20060101); B60t 007/12 (); F16d
067/02 () |
Field of
Search: |
;192/7,8,15,12B,16 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Wyche; Benjamin W.
Claims
What I claim as new and desire to secure by Letters Patent of the
United States is:
1. A brake and drive apparatus for the powered movement and
automatic holding of a load, comprising an electrical stepping
motor of the type including an electrically-excited
internally-toothed stator concentric with and developing detent
locking relationships with an externally-toothed
permanently-magnetized armature in a motor framework, said motor
having a drive shaft angularly movable with the armature thereof
and supported wholly by bearings in said motor framework, said
drive shaft having an externally-threaded portion of an extension
thereof outwardly beyond said motor framework in axially-spaced
relation to a positioning stop fixed axially in relation to said
shaft, first and second substantially annular clutch members
disposed about said shaft extension and having substantially
annular clutching surfaces in confronting relation to one another,
said first clutch member being internally threaded and in threaded
engagement with said externally-threaded portion of said shaft
extension and thereby forming a motion-transposing coupling for
movements of said first member into and out of engagement with said
second member responsive to shaft movements in one and the opposite
angular directions, said second clutch member having an annular
sleeve portion about said shaft with an end surface of said sleeve
portion in confronting relation to said stop to form a locking
arrangement whereby turning of said shaft in said one direction
winds said first member on said shaft and urges said clutching
surfaces together and urges said end surface into engagement with
said stop to lock said first member for angular movement in said
one direction with said shaft, means connecting said first member
in driving and driven relation to a load comprising a pinion
integral with and angularly movable with said first member and a
load gear meshed with said pinion, said pinion being axially
slidable in relation to said load gear upon winding of said first
member on said drive shaft, and one-way brake means comprising an
annular overrunning clutch including an array of rollers about said
sleeve portion and substantially parallel therewith and disposed
within a surrounding raceway having sloped inner wall surfaces,
said raceway being fixed in relation to said framework, said brake
means accommodating angular motion of said sleeve portion and said
second clutch member substantially in said one direction only,
whereby said one-way brake means holds said first clutch member and
said pinion against movement in said opposite direction except when
said drive shaft is powered to turn angularly in said opposite
direction by said stepping motor.
Description
BACKGROUND OF THE INVENTION
For certain types of powered drives, such as those which operate
"elevator" devices designed to controllably lift, hold, and lower a
load, it is highly desirable that the holding function be performed
and sustained reliably, despite possible weakness of drive-motor
torque during stalled or inoperative conditions of the motor. At
the same time, the reverse direction of movement, against the
locking or holding action, should nevertheless be achievable
readily and automatically when the motor is excited for that sense
of movement. These operating characteristics are preferably to be
realized by way of uncomplicated mechanisms of small size and low
manufacturing cost. So-called "stepping" motors possess
capabilities of being rapidly indexed by precise angular amounts in
either angular direction in response to appropriate electrical
excitations, and are therefore generally attractive as motive
sources for drives such as those under discussion. However, the
holding effect of electromagnetic poles of such motors may not
suffice to provide needed secure restraint under severe maximum
loading conditions, and compact, automatic, and positive-locking
output coupling mechanisms are required to render such motors
useful in applications involving these conditions.
SUMMARY
The present invention is aimed at creating novel and useful
motorized drive and brake mechanisms incorporating automatic
holding provisions, and, in one particular aspect, to a unique
electrical stepping-motor coupling, for the lifting, automatic
holding, and lowering of an elevator-type load, which is of
inexpensive, reliable, efficient and miniaturized construction
involving a simple combination of a threaded shaft, clutch discs
and a unidirectional brake.
By way of a summary account of practice of this invention in one of
its aspects, a conventional form of electromagnetic stepping motor
has the outer tip of its armature shaft threaded externally, the
latter being mated to have a relatively free non-locking fit with
an internally-threaded pinion slidably meshed with a load gear in
driving and driven relationship with a load shaft which is to be
turned in one direction, or to be held against turning in the
opposite direction, or to be allowed to turn in the said opposite
direction. Associated with the pinion is a first annular clutch
disc, which may be axially positioned by actions of the aforesaid
threading to be engaged with and disengaged from a second annular
clutch disc sleeve-mounted on the same armature shaft. Between the
second clutch-disc sleeving and a framework fixed relative to the
motor stator structure is a brake of the unidirectional overrunning
clutch type, preferably of a locking-roller type, which allows
relative rotation of its inner and outer portions in but one
angular sense.
Upon being appropriately excited electrically, the motor rotates
its armature shaft in an angular direction accommodated by the
one-way clutch, whereupon, against the yieldable restraint of the
load gear, the first clutch disc is threadedly wound until it
engages the second, the two then assuming an angularly-locked
relation to the armature shaft because of a resulting jamming
action. Continued rotation in the same direction powers the load
through the load gear. When excitation or motor rotation then
ceases, reflected loading through the gear, pinion, and clutch
discs causes the one-way brake to be urged in the locking sense,
whereupon all rotation is halted automatically and the load is
held. If the load is to be allowed to turn the load gear in the
reverse direction, the motor is energized to turn in a direction
opposite to that last considered, and the first clutch disc unwinds
sufficiently to permit it and the armature shaft to turn, with the
result that a close and limited follow-up reversal in turning
action of the load gear ensues.
BRIEF DESCRIPTION OF THE DRAWING
FIG. 1 is a partly cut-away and cross-sectional side elevational
view of an improved combination of a stepping motor and brake and
drive mechanism in accordance with this invention;
FIG. 2 is a cross-section of the same combination taken along
section line 2--2 in FIG. 1;
FIG. 3 provides a fragmentary detail of a portion of the
combination shown in FIG. 1, with the clutch discs parted;
FIG. 4 illustrates a transversely-cross-sectioned one-way brake
such as is useful in the embodiment of FIGS. 1-3; and
FIG. 5 is a partly cross-sectioned end view of a portion of the
one-way brake appearing in FIG. 4.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
The assembly depicted in FIGS. 1-3 includes an electrical drive
motor 6 which is intended to rotate an output shaft 7 associated
with a rotational load, such as that of an elevator device designed
for lifting, holding and lowering a loaded platform (not shown). As
illustrated, the motor 6 is in the form of a conventional stepping
motor, the stator windings 8 of which may be energized in known
fashion to cause the usual internally-toothed stator poles to
establish electromagnetic interactions with externally-toothed
elements of the permanently-magnetized rotor or armature 9 and
thereby rotate the armature shaft 10 in one or the opposite angular
directions. Motors of this type characteristically exhibit a detent
tendency, wherein the rotor tends to lock or hold in predetermined
angular relationships with the stator unless electrically powered
into movements; however, that tendency is not always dependable for
the reliable restraint of rotational loads imposed on the armature
shaft, and an associated automatic clutch and brake mechanism is
therefore provided in accordance with the present teachings, to
hold severe loads securely whether or not electrical power is
available.
For the latter purposes, a clutch mechanism designated generally by
reference character 11 is interposed between the armature shaft 10
and the gearing through which it is coupled with the unit output
shaft 7. Conveniently, that mechanism is housed within the gear-box
structure 12 fixed with the stator or framework of the motor and
including a train gear sequence of a load gear 13 driving the
output-shaft gear 14 through an intermediate gear 15. A spring
element 16 can take up certain tolerances, if desired. Armature
shaft 10 is externally threaded at an outwardly-projecting end 10a
thereof, to implement the actions of the clutching mechanism, and,
in that connection, the threading is selected so that it will have
relatively free fit. Mated with the threaded end of the armature
shaft is a pinion 17 having complementary internal threading, as
well as an integral annular clutch disc 18 facing toward the
armature. Between the said clutch disc and an enlarged shoulder 19
on armature shaft is a further annular clutch disc 20, united with
and carried by a tubular sleeve element 21 which is relatively
rotatable in relation to the supporting shaft. In turn, an annular
one-way rotatable brake unit 22 is disposed between the exterior of
sleeve element 21 and the framework 12 fixed with the motor stator
structure.
One or both of the confronting surfaces of annular clutch discs 18
and 20 may be suitably coated or surfaced, as designated via
reference character 23, to insure that good angular coupling is
achieved between them upon engagement but that they may be readily
parted or separated from one another in the axial direction.
Somewhat similarly, the confronting end surfaces of shaft shoulder
19 and sleeve 21 are intended to jam together under certain
operating conditions but to release readily in angular coupling
under other conditions.
As is shown in FIGS. 4 and 5, the one-way rotatable brake unit 22
may conveniently comprise a relatively thin annular assembly such
as is available under the descriptive designation as an overrunning
clutch, from The Torrington Co. Typically, the unit includes an
array of rollers, 24, held by a shaped guide-and-spacer retainer 25
in an outer raceway 26 which has sloped inner peripheral wall
surfaces. When the rollers are turned in one direction about their
longitudinal axes, by a cooperating inner shaft which in the case
under discussion is the tubular sleeve 21, they simply rotate
relatively freely in accommodating radial spaces afforded by the
shaping of the inner peripheral wall surfaces of raceway 26.
Retainer 25 has shaped surfaces which tend to lift the rollers
radially into these spaces and prevent unwanted jamming. However,
turning of the rollers in the opposite directions about their axes
has the desired effect of jamming them between the inner shaft, or
sleeve 21, and the radially innermore portions of the inner
periphery of raceway 26, whereupon the sleeve and outer raceway
tend to lock together angularly almost at once.
The axial spacing 27 between clutch discs 18 and 20 in FIG. 3 is
displayed to aid in an understanding of the action wherein no
braking is effective, although it should be understood that the
spacing tends to be minute and short-lived in practice. If it is
assumed that such spacing exists initially, and that the motor 6 is
excited to drive its armature shaft 10 in an intended forward or
load-powering angular direction, the angularly-restrained
internally-threaded pinion 17 will advance axially toward the motor
armature under influence of the cooperating external threading 10a
on the armature shaft. During this winding-up action, the pinion
slides axially in relation to the enmeshed load gear 13 until the
associated clutch disc 18 engages clutch disc 20. The latter can
move axially inward only until the small end surface of the
associated sleeve 21 firmly abuts the shaft shoulder 19, whereupon
the discs are necessarily locked angularly together and with the
armature shaft 10. Accordingly, the armature shaft drives pinion 17
in its same angular direction, with consequent related powering of
the output shaft 7 via gears 13, 14 and 15. At such times, the
brake unit 22 offers substantially no resistance to the turning of
sleeve 21 and motor shaft 10.
Upon cessation of motive powering in the sense last discussed, any
loading torque reflected back in the opposite sense from output
shaft 7 via gears 13-15 to pinion 17 will immediately develop an
automatic angular locking and hold of the load, whether the motor
is energized or not. Such reflected reverse torque is typical of
what is experienced when the device is used to lift a load after
the fashion of an elevator, crane hoist or the like. The holding
action occurs as pinion 17 attempts to force clutch discs in the
reversed angular direction, whereupon sleeve 21 develops the
aforementioned locking with the framework 12 by way of the brake
unit 22, which is then jammed by being torqued in the wrong
direction.
Release of the locking, and attendant reversed-direction motion of
output shaft 7 may nevertheless occur, controllably, as the motor 6
itself intentionally energized to rotate in the reverse direction,
such as is the case where an elevated load is to be lowered. Upon
occurrence of each increment of angular movement of the armature
shaft 10 in the reversed direction, the one-way brake 22 continues
to hold or lock, but shaft 10 may nonetheless turn within the
sleeve 21 and thereby slightly unwind the threaded pinion from the
threaded end of the shaft; this is accompanied by slight axial
separation of the clutch discs and by immediate turning of the
pinion in the desired reversed direction, as induced by the
reflected loading, until the clutch discs again lock. In this
fashion, a close follow-up action occurs as the motor steps or
turns in the reversed direction, and an elevated or hoisted load
may be lowered with precise control and with assurance that holding
action will develop automatically if reversed-direction movement is
not intended. A cap or stop nut 28 on the end of armature shaft 10
insures that the pinion cannot be unwound excessively in unusual or
tampered handling of the device.
Shoulder 19 on the shaft 10 is, broadly speaking, a positioning
stop, and may assume forms other than specifically a shoulder, to
achieve the required locking effects in cooperation with a surface
of the appropriate one of the brake disc portions.
* * * * *